#ifndef _TASK_MOVE_
#define _TASK_MOVE_
#ifdef __cplusplus
 extern "C" {
#endif
#include "includes.h"
#ifdef _TASK_MOVE_GLOBALS
#define _TASK_MOVE_EXT        
#else 
#define _TASK_MOVE_EXT   extern
#endif

 __task void Chassis_Control(void);
__task void Ultrasonic_Control(void);

_TASK_MOVE_EXT uint64_t Chassis_ControlStk[512/8];
_TASK_MOVE_EXT  OS_TID HandleChassis_Control;

_TASK_MOVE_EXT uint64_t Ultrasonic_ControlStk[512/8];
_TASK_MOVE_EXT  OS_TID HandleUltrasonic_Control;

_TASK_MOVE_EXT  u8 FollowStatus,StrategyStatus;

extern float motor202_Constrain ,motor203_Constrain;


extern float special_Move_Kp ;
extern float special_Move_Kd ;
extern float special_Move_Max ;
extern float special_Move_Min ;
extern float special_Move_DeadZone ;
extern float normal_Move_Kp;
extern float normal_Move_Kd;
#define FOLLOW     0
#define UNFOLLOW   1
#define ATTACK     2

#define  NORMAL       0
#define  ADDBULLET    1 
#define  SITTING      2
#define  CATSTEP      3
#define  RUNEMODE     4



#ifdef __cplusplus
   }
#endif
   
#endif
